Slope traversal experiments with slip compensation control for lunar/planetary exploration rover
Slope traversal experiments with slip compensation control for lunar/planetary exploration rover
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DOI：
10.1109/robot.2008.4543556
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发表时间：
2008-05
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影响因子：
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通讯作者：
G. Ishigami;K. Nagatani;Kazuya Yoshida
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文献类型：
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作者：
G. Ishigami;K. Nagatani;Kazuya Yoshida
本文介绍了月球/行星探测车的斜坡穿越实验与滑移补偿控制。在松散的土壤上，即使漫游车以相对较低的速度行驶，漫游车的车轮也很容易打滑。由于滑移的存在，探测车在松散土壤上沿任意路径行走变得困难，而且当探测车经过斜坡时，滑移会增加。为了科普滑移问题，作者以前提出的路径跟踪控制策略，考虑到车轮滑移。通过数值仿真，验证了所提出的控制方法能够有效地补偿和减小探测车的滑移运动，使探测车能够沿着给定的路径运动。为了验证所提出的控制方法的实用性，本文利用四轮探测车实验台进行了斜坡穿越实验。基于月球车在边坡穿越情况下的运动轨迹，比较了滑移补偿和无滑移控制的控制性能。此外，所提出的控制的有效性进行了验证的距离和方向误差的定量评价。
This paper presents slope traversal experiments with slip compensation control for lunar/planetary exploration rovers. On loose soil, wheels of the rover easily slip even when the rover travels with relatively low velocity. Because of the slip, following an arbitrary path on loose soil becomes a difficult task for the rover, and also, the slip will increase when the rover traverses a slope. To cope with the slip issue, the authors previously proposed path following control strategy taking wheel slippages into account. Through numerical simulations in the previous work, it has been confirmed that the proposed control effectively compensates and reduces the slip motions of the rover, and then, the rover can follow a given path. In order to confirm the usefulness of the proposed control for practical application, slope traversal experiments using a four-wheeled rover test bed are addressed in this paper. The control performance of the slip compensation is compared to that of no slip control based on motion traces of the rover in side slope traversal case. Further, the effectiveness of the proposed control is verified by quantitative evaluations of distance and orientation errors.